Namespace inertialsim::geometry::quaternion

Namespace List > inertialsim > geometry > quaternion

Public Functions

Type	Name
Vector3D	Apply (const Quaternion & quaternion, const Vector3D & vector) Apply quaternion rotation to a vector.
Quaternion	Compose (const Quaternion & q2, const Quaternion & q1) Compose two quaternions.
Quaternion	Conjugate (const Quaternion & quaternion) Conjugate of a quaternion.
Quaternion	FromAxisAngle (const Vector3D & axis, const Scalar1D & angle, bool passive=false) Quaternion representation from axis and angle of rotation.
Quaternion	FromEuler (const EulerAngles & euler, const std::string & sequence) Quaternion representation from Euler angles.
Quaternion	FromMatrix (const RotationMatrixArray & matrix) Quaternion representation from rotation matrix.
Quaternion	FromQuaternion (const Quaternion & quaternion, bool scalar_last=false) Quaternion representation from quaternion.
Quaternion	FromRotationVector (const RotationVector & rotation_vector, bool passive=false) Quaternion representation from rotation vector.
Quaternion	Validate (const Quaternion & quaternion, bool scalar_last=false) Validates inputs meet quaternion conventions.

Public Functions Documentation

function Apply

Apply quaternion rotation to a vector.

Vector3D inertialsim::geometry::quaternion::Apply (
    const Quaternion & quaternion,
    const Vector3D & vector
) 

Parameters:

• quaternion Quaternion(s) (4, N).
• vector Vector(s) (3, N).

Returns:

Rotated vector(s) (3, N).

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function Compose

Compose two quaternions.

Quaternion inertialsim::geometry::quaternion::Compose (
    const Quaternion & q2,
    const Quaternion & q1
) 

Parameters:

• q2 Quaternion #2 (4, N) or (4, 1).
• q1 Quaternion #1 (4, N) or (4, 1).

Returns:

Composed quaternion q3 = q2*q1 (4, N).

---

function Conjugate

Conjugate of a quaternion.

Quaternion inertialsim::geometry::quaternion::Conjugate (
    const Quaternion & quaternion
) 

Parameters:

• quaternion Quaternion(s) (4, N).

Returns:

Conjugated quaternion(s) (4, N).

---

function FromAxisAngle

Quaternion representation from axis and angle of rotation.

Quaternion inertialsim::geometry::quaternion::FromAxisAngle (
    const Vector3D & axis,
    const Scalar1D & angle,
    bool passive=false
) 

Parameters:

• axis Unit vector(s) representing the axis of rotation (3, N).
• angle Angle(s) which are applied around the corresponding axis (N).
• passive Interpret the rotation as passive.

Returns:

Quaternion(s) (4, N).

---

function FromEuler

Quaternion representation from Euler angles.

Quaternion inertialsim::geometry::quaternion::FromEuler (
    const EulerAngles & euler,
    const std::string & sequence
) 

Parameters:

• euler Euler angles (3, N).
• sequence Euler angle rotation sequence (e.g., "XYZ").

Returns:

Quaternion(s) (4, N).

---

function FromMatrix

Quaternion representation from rotation matrix.

Quaternion inertialsim::geometry::quaternion::FromMatrix (
    const RotationMatrixArray & matrix
) 

Parameters:

• matrix Vector of rotation matrices.

Returns:

Quaternion(s) (N, 4).

---

function FromQuaternion

Quaternion representation from quaternion.

Quaternion inertialsim::geometry::quaternion::FromQuaternion (
    const Quaternion & quaternion,
    bool scalar_last=false
) 

Parameters:

• quaternion Quaternion(s) (4, N).
• scalar_last If true, assume scalar is the last element.

Returns:

Validated quaternion(s) (4, N).

---

function FromRotationVector

Quaternion representation from rotation vector.

Quaternion inertialsim::geometry::quaternion::FromRotationVector (
    const RotationVector & rotation_vector,
    bool passive=false
) 

Parameters:

• rotation_vector Rotation vector(s) (3, N).
• passive Interpret the rotation as passive.

Returns:

Quaternion(s) (4, N).

---

function Validate

Validates inputs meet quaternion conventions.

Quaternion inertialsim::geometry::quaternion::Validate (
    const Quaternion & quaternion,
    bool scalar_last=false
) 

Parameters:

• quaternion Quaternion(s) (4, N).
• scalar_last If true, assume scalar is the last element.

Returns:

The validated quaternion(s) (4, N), with scalar first and positive.

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The documentation for this class was generated from the following file cpp/include/inertialsim/geometry/rotation_conversions/quaternion.h